In general, recommendations provided by bike manufacturers on their websites or on-line calculators are (way) off. Usually, they, including Canyon, recommended 1 size larger frame than you should be riding. As a result, people are riding frames that are too big and then complain about neck and back pain, numb hands etc. I strongly suggest getting advice from your local bike fitter - it will pay dividends!!! Based on your data, I would lean towards 56 and choose a longer stem if necessary.